An Algorithm for Efficient Computation of Dynamics of Robotic Manipulators

This paper presents a recursive algorithm for computation of dynamics of robot manipulators using the concepts of “augmented body” and “barycenter”. This efficient algorithm is proposed for real-time control. The proposed method of computation is based on Newton-Euler formalism, and it can be applied to any rigid-link manipulator with open-loop kinematic chains with revolute and/or prismatic joints. The computational efficiency of the proposed method is compared with other published methods.

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